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Shareholders' Equity and Share-Based Compensation - Stock Option Information by Ranges of Exercise Prices (Details) - $ / shares
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Summary of options outstanding segregated by ranges of exercise prices      
Total Outstanding Options, Options (in shares) 1,032,128 916,287 908,557
Total Outstanding Options, Weighted Average Option Price per Share (in usd per share) $ 39.10 $ 38.99  
Total Outstanding Options, Weighted Average Remaining Term 6 years 6 months 29 days    
Vested and Exercisable Options (in shares) 592,701 437,197  
Vested and Exercisable Options, Weighted Average Option Price per Share (in usd per share) $ 37.94 $ 36.59 $ 34.81
Vested and Exercisable Options, Weighted Average Remaining Term 5 years 4 months 28 days    
Minimum      
Summary of options outstanding segregated by ranges of exercise prices      
Total Outstanding Options, Weighted Average Option Price per Share (in usd per share) $ 28.88 28.88  
Maximum      
Summary of options outstanding segregated by ranges of exercise prices      
Total Outstanding Options, Weighted Average Option Price per Share (in usd per share) $ 42.95 $ 42.95  
Range One      
Summary of options outstanding segregated by ranges of exercise prices      
Total Outstanding Options, Options (in shares) 195,192    
Total Outstanding Options, Weighted Average Option Price per Share (in usd per share) $ 30.81    
Total Outstanding Options, Weighted Average Remaining Term 3 years 7 months 2 days    
Vested and Exercisable Options (in shares) 195,192    
Vested and Exercisable Options, Weighted Average Option Price per Share (in usd per share) $ 30.81    
Vested and Exercisable Options, Weighted Average Remaining Term 3 years 7 months 2 days    
Range One | Minimum      
Summary of options outstanding segregated by ranges of exercise prices      
Total Outstanding Options, Weighted Average Option Price per Share (in usd per share) $ 28.88    
Range One | Maximum      
Summary of options outstanding segregated by ranges of exercise prices      
Total Outstanding Options, Weighted Average Option Price per Share (in usd per share) $ 33.41    
Range Two      
Summary of options outstanding segregated by ranges of exercise prices      
Total Outstanding Options, Options (in shares) 687,556    
Total Outstanding Options, Weighted Average Option Price per Share (in usd per share) $ 40.61    
Total Outstanding Options, Weighted Average Remaining Term 7 years 6 months 7 days    
Vested and Exercisable Options (in shares) 285,474    
Vested and Exercisable Options, Weighted Average Option Price per Share (in usd per share) $ 40.84    
Vested and Exercisable Options, Weighted Average Remaining Term 6 years 4 months 6 days    
Range Two | Minimum      
Summary of options outstanding segregated by ranges of exercise prices      
Total Outstanding Options, Weighted Average Option Price per Share (in usd per share) $ 36.04    
Range Two | Maximum      
Summary of options outstanding segregated by ranges of exercise prices      
Total Outstanding Options, Weighted Average Option Price per Share (in usd per share) $ 41.95    
Range Three      
Summary of options outstanding segregated by ranges of exercise prices      
Total Outstanding Options, Options (in shares) 149,380    
Total Outstanding Options, Weighted Average Option Price per Share (in usd per share) $ 42.95    
Total Outstanding Options, Weighted Average Remaining Term 6 years 2 months 4 days    
Vested and Exercisable Options (in shares) 112,035    
Vested and Exercisable Options, Weighted Average Option Price per Share (in usd per share) $ 42.95    
Vested and Exercisable Options, Weighted Average Remaining Term 6 years 2 months 4 days    
Range Three | Minimum      
Summary of options outstanding segregated by ranges of exercise prices      
Total Outstanding Options, Weighted Average Option Price per Share (in usd per share) $ 42.73    
Range Three | Maximum      
Summary of options outstanding segregated by ranges of exercise prices      
Total Outstanding Options, Weighted Average Option Price per Share (in usd per share) $ 42.73